• 로봇학회논문지
• /
• 제10권4호
• /
• pp.179-185
• /
• 2015

The versatility of a human hand is what the researchers eager to mimic. As one of the attempt, the redundant degree of freedom in the human hand is considered. However, in the force domain the redundant joint causes a control issue. To solve this problem, the force control method for a redundant robotic hand which is similar to the human is proposed. First, the redundancy of the human hand is analyzed. Then, to resolve the redundancy in force domain, the artificial minimum energy point is specified and the restoring force is used to control the configuration of the finger other than the force in a null space. Finally, the method is verified experimentally with a commercial robot hand, called Allegro Hand with a force/torque sensor.

• 대한간호학회지
• /
• 제51권4호
• /
• pp.454-464
• /
• 2021

Purpose: This study aimed to identify the level of complete knowledge about hand hygiene indications among nurses working at integrated nursing care service wards. Methods: A total of 127 nurses in eight integrated nursing care service wards completed structured sheets while observing a video based on six scenarios developed by the research team. Complete knowledge level was calculated as the percentage (%) of participants who responded correctly to all questions among participants. Complete knowledge levels according to the scenarios were calculated and compared according to general characteristics using the chi-squared test or Wilcoxon rank-sum test. Results: The complete knowledge level for each scenario ranged from 7.9% (scenario 6) to 42.5% (scenarios 4 and 5), and no one had complete knowledge of all scenarios. Only 3.1% of participants demonstrated complete knowledge in more than four scenarios, and 26.0% had complete knowledge of four or more hand hygiene moments. Complete knowledge level per scenario did not differ depending on work experience at hospitals and study wards, or prior hand hygiene training in the last year. Conclusion: As the complete knowledge level regarding hand hygiene moment is very low, it is suggested that regular hand hygiene training should be provided to nurses using video media that reflect real nursing tasks. Thus, they can acquire complete knowledge of when hand hygiene is needed or not during complex nursing work situations.

• 대한인간공학회지
• /
• 제33권2호
• /
• pp.109-124
• /
• 2014

Objective: This study was conducted for one-hand users including hemiplegic clients currently using general folding manual wheelchairs, so as to analyze their specific problems and recommend solutions regarding usage. Background: Traditional manual wheelchairs require considerable use and control of both hands for operation, thus adaptations become necessary for individuals with asymmetrical use of hands. Method: Thirty hemiplegic clients who were admitted to rehabilitation and convalescent hospitals participated as subjects. The research tools were general folding manual wheelchairs commonly used by people with impaired gait, and the Wheelchair Skills Tests (WST) WST-M/WCU 4.1 version was adopted as the assessment tool. All participants were asked to fill out questionnaires on demographics and wheelchair usage characteristics. Assessment procedures were performed with currently used manual wheelchairs and with/without the use of foot to control the wheelchair. Results: When the participants drove folding manual wheelchairs without the use of foot, even the lowest failure rate among the WST items tested recorded 96.7%. On the contrary, with the use of foot in maneuvering the wheelchairs, failure rates dropped noticeably and success rate among the WST items tested was as high as 86.7%. Conclusion: These findings imply that the use of one-arm (hand) propellable (drivable) wheelchair can be an active and effective solution in resolving problems for hemiplegic clients using existing manual wheelchairs. As such, the government should provide institutional support to further develop and distribute this device or technology, and promote relative research in tandem. For now, the supply of commercially available device to hemiplegic clients is deemed urgent and also a mechanism to provide the devices and relevant services. Application: This study offers viable solutions for hemiplegic clients who rely on existing manual wheelchairs to increase their mobility and occupational performance.

• 대한통합의학회지
• /
• 제3권4호
• /
• pp.11-21
• /
• 2015

Purpose : The purpose of this study was to provide the material about the treatment effect of hand function training and writing training being performed as a part of treatment to improve the function of the non-dominant hand of the patients whose dominant hand is damaged and thus need to improve their non-dominant hand's function. Method : During one month of November, 2013, this study randomly chose five study subjects for hand function training, five for writing training, and ten of control group from 20 normal male and female adults going to K Univ. in Busan. All study subjects fully understood all of the training course, agreed to take the test in this study, and volunteered to participate in the test. Each training was performed five times for two weeks, 30 minutes each time. For measurement, Purdue pegboard was used to look into the change of hand dexterity. To investigate an improvement in hand function through hand function training and writing training, this study conducted early evaluation before training, interim evaluation, and final evaluation. Result : First, according to the comparison of dominant hand dexterity by group and by method during a training period, the groups of hand function training and of writing training improved dominant hand dexterity more than the control group. Secondly, according to the comparison of non-dominant hand dexterity by group during a training period, the groups of hand function training and of writing training improved dexterity more than the control group. According to the comparison of non-dominant hand dexterity by method during a training period, there was no big difference in dexterity between the groups of hand function training and of writing training and the control group. But, the group of hand function training showed a further improvement. Thirdly, according to the comparison of both-hand dexterity by group and by method during a training period, the groups of hand function training and of writing training improved both-hand dexterity more than the control group. Fourthly, according to the comparison of both-hand handling ability by group and by method during a training period, the groups of hand function training and of writing training improved both-hand handling ability more than the control group. Conclusion : Given the study result, it is considered that hand function training and writing training help brain damaged patients improve their hand function for their daily activity. And it will be meaningful to research brain damaged patients' motor skills after their brain damage, and the patients who have low abilities of visual perception and cognition. In the future, it will be necessary to secure more study subjects and perform systematic training during a sufficient test period.

• Archives of Reconstructive Microsurgery
• /
• 제24권1호
• /
• pp.13-15
• /
• 2015

Purpose: Since the hand elevation test was first introduced by Ahn in 2001, it has been one of most performing provocative test for diagnosing carpal tunnel syndrome. Although many studies have been published on the hand elevation test, there are no study that can explain why false-negative results of hand elevation test appears in carpal tunnel syndrome patients diagnosed by electromyography (EMG) findings. Therefore we searched out whether hand elevation test is related with EMG severity. Materials and Methods: We made a retrospective study of 654 bilateral carpal tunnel syndrome patients. Among them 134 were studied which had different hand elevation test results on each hands. The paired samples t-test was used to compare the EMG severity of each group. The relationships between hand elevation test and EMG severity were examined using Pearson-product correlations. Comparing whether the frequency of false negative hand elevation were different between both hands, and whether the severity of EMG depends on which side of hand is, was evaluated with Mann-Whitney U-test. Results: Severity of EMG in positive group was moderate to severe on average, whereas mild to moderate on negative group, with significant difference statistically (p<0.001). Correlation between the hand elevation test results and EMG severity also showed significance statistically (p<0.001). Conclusion: Mild severity of EMG was found out to be the factor affecting the false results. However, EMG severity and hand elevation test shows a meaningful correlation, supporting the value of hand elevation test.

• 한국정보통신학회논문지
• /
• 제25권10호
• /
• pp.1323-1329
• /
• 2021

손 표현 인식을 위해서는 손의 정적인 형태를 기반으로 하는 손 자세 인식과 손의 동적인 움직임을 기반으로 하는 손 동작 인식이 함께 사용된다. 이 논문에서는 손 표현 인식을 위해 손가락의 위치와 형태를 기반으로 하는 계층적 손 자세 모델을 제안한다. 손 자세 인식을 위해서는 오픈소스인 미디어파이프를 기반으로 하고, 손가락 상태를 나타내는 모델과 이를 통해 손 자세를 나타내는 모델을 계층적으로 구성하였다. 손가락 모델 역시 손가락 하나의 굽힘과 손가락 두 개의 닿음을 사용하여 계층적으로 구성하였다. 제안하는 모델은 손을 통해 정보를 전달하는 다양한 응용에 사용할 수 있으며, 수화에서의 숫자 인식에 적용하여 그 유용성을 검증하였다. 제안하는 모델은 수화 인식 이외에 컴퓨터의 사용자 인터페이스에서 다양한 응용이 가능할 것으로 기대한다.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 22-24 Oct. 1991
• /
• pp.1774-1778
• /
• 1991

In this paper, we discuss the smooth hand-over of an object from a man to a robot and vice versa. In order for a robot to grasp an object or release a grasped object stably without using object model, as a man does, one of the basic approaches is the physiological method motivated by the study of human hands. So, we analyze human's grasping behavior by measuring grasp and friction forces simultaneously as a man grasps a experimental device which is designed for grasping or hand-over. Also, we investigate two methods that can predict when and bow fingers will slip upon a grasped object. And then, we propose a method of the hand-over of an object between a man and a robot by applying human's capability to a robot hand control.

• 전기학회논문지
• /
• 제65권1호
• /
• pp.194-199
• /
• 2016

EMG has specific information which is related to movements according to the activities of muscles. Therefore, users can intuitively control a prosthesis. For this reason, biosignals are very useful and convenient in this kind of application. Bioimpednace also provides specific information about movements like EMG. In this study, we used both EMG and bioimpedance to classify the typical hand gestures such as hand open, hand close, no motion (rest), supination, and pronation. Nine able-bodied subjects and one amputee were used as experimental data set. The accuracy was $98{\pm}1.9%$ when 2 bio-impedance and 8 EMG channels were used together for normal subjects. The number of EMG channels affected the accuracy, but it was stable when more than 5 channels were used. For the amputee, the accuracy is higher when we use both of them than when using only EMG. Therefore, accurate and stable hand motion estimation is possible by adding bioimepedance which shows structural information and EMG together.

• 대한전자공학회:학술대회논문집
• /
• 대한전자공학회 2002년도 하계종합학술대회 논문집(3)
• /
• pp.215-218
• /
• 2002

Gesture recognitions needed for various applications and is now gaining in importance as one method of enabling natural and intuitive human machine communication. In this paper, we propose a real time hand-signal recognition system in 3-dimensional space performs robust, real-time tracking under varying illumination. As compared with the existing method using classical pattern matching, this system is efficient with respect to speed and also presents more systematic way of defining hand-signals and developing a hand-signal recognition system. In order to verify the proposed method, we developed a virtual driving system operated by hand-signals.

• 한국의류학회지
• /
• 제23권8호
• /
• pp.1139-1148
• /
• 1999

This paper discussed the assessment of hand of denim fabrics finished by enzymatic hydrolysis. The semantic differential scale established using the database collected from university students. Analyzing the subjective rating by common factor analysis with oblimin rotation five factors expressing the hand were induced. Factor one was the surface property related to the surface roughness or softness Factor two was the durability which was related to the compactness and bearing strength Factor three was the sense of weight which was related to the thickness and weight. The moisture related properties and the sense of shape recovery were the forth and fifth factors respectively. the evaluations on the surface property weight and moisture related properties were similar by men and women However the shape recovery and the durability were evaluated differently. Surface and weight related properties were important factors judging the hand of fabrics by both group.